[sr-dev] [kamailio/kamailio] Use kamilio to deploy as P-cscf, I-cscf, S-cscf to implement IMS functions. In the SIP call Flow , the P-CSCF will exit every time. (#2267)

[chenhao5651]

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### Description

I use kamilio to deploy as P-cscf, I-cscf,S-cscf to implement IMS functions, two test phones attach kamilio and make volte call. The P-cscf will exit every time.

### Troubleshooting

I think it may related to the collaboration between tm module and ipsec module.

#### Reproduction
I set up a test environment according to the instructions https://open5gs.org/open5gs/docs/tutorial/02-VoLTE-setup/ . two iphones connetc to the EPC and attach to kamailio,and the IPSec is available. 

#### Debugging Data
Here is the gdb info
```
Reading symbols from /usr/local/sbin/kamailio...done.
[New LWP 22934]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
Core was generated by `/usr/local/sbin/kamailio -f /etc/kamailio_pcscf/kamailio_pcscf.cfg -P /var/run/'.
Program terminated with signal SIGSEGV, Segmentation fault.
#0  0x00007f1f4951f2d0 in ?? () from /lib/x86_64-linux-gnu/libc.so.6
(gdb) bt
#0  0x00007f1f4951f2d0 in ?? () from /lib/x86_64-linux-gnu/libc.so.6
#1  0x00007f1f494cefb4 in vfprintf () from /lib/x86_64-linux-gnu/libc.so.6
#2  0x00007f1f494d1370 in ?? () from /lib/x86_64-linux-gnu/libc.so.6
#3  0x00007f1f494ce7ea in vfprintf () from /lib/x86_64-linux-gnu/libc.so.6
#4  0x00007f1f494d78c4 in fprintf () from /lib/x86_64-linux-gnu/libc.so.6
#5  0x00007f1f44290629 in fill_contact (ci=0x7fff6d0ae1a0, m=0x7f1f48ee3280) at cmd.c:218
#6  0x00007f1f4429a29a in ipsec_forward (m=0x7f1f48ee3280, d=0x7f1f44a7efb8) at cmd.c:693
#7  0x00007f1f442890ac in w_forward (_m=0x7f1f48ee3280, _d=0x7f1f44a7efb8 "\270\356\247D\037\177", _cflags=0x0) at ims_ipsec_pcscf_mod.c:355
#8  0x000055713f26f2f1 in do_action (h=0x7fff6d0af080, a=0x7f1f48e7d3d8, msg=0x7f1f48ee3280) at core/action.c:1079
#9  0x000055713f27d2ab in run_actions (h=0x7fff6d0af080, a=0x7f1f48e79710, msg=0x7f1f48ee3280) at core/action.c:1578
#10 0x000055713f27dabd in run_top_route (a=0x7f1f48e79710, msg=0x7f1f48ee3280, c=0x7fff6d0af080) at core/action.c:1663
#11 0x00007f1f489dd18a in reply_received (p_msg=0x7f1f48ee3280) at t_reply.c:2418
#12 0x000055713f382183 in do_forward_reply (msg=0x7f1f48ee3280, mode=0) at core/forward.c:745
#13 0x000055713f383fcb in forward_reply (msg=0x7f1f48ee3280) at core/forward.c:846
#14 0x000055713f3e82a9 in receive_msg (
    buf=0x55713f6c9ea0 <buf> "SIP/2.0 183 Session Progress\r\nRecord-Route: <sip:mt at 192.168.4.207;transport=tcp;r2=on;lr=on;ftag=2573636716;rm=7;did=a1e.1e8>,<sip:mt at 192.168.4.207;r2=on;lr=on;ftag=2573636716;rm=7;did=a1e.1e8>,<sip:m"..., len=1958, rcv_info=0x7fff6d0af5c0) at core/receive.c:510
#15 0x000055713f2d05e1 in udp_rcv_loop () at core/udp_server.c:548
#16 0x000055713f233c1e in main_loop () at main.c:1673
#17 0x000055713f23cff2 in main (argc=13, argv=0x7fff6d0afea8) at main.c:2802

```

#### Log Messages
Here is the P-cscf logs
[pcscf.log](https://github.com/kamailio/kamailio/files/4401553/pcscf.log)

#### SIP Traffic


[traffic.zip](https://github.com/kamailio/kamailio/files/4401567/traffic.zip)

### Possible Solutions

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### Additional Information

  * **Kamailio Version** - output of `kamailio -v`

```
(paste your output here)
```

* **Operating System**:

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Kernel details (output of `uname -a`)
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```
(paste your output here)
```


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